U-ARM : Ultra low-cost general teleoperation interface for robot manipulation
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arXiv
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| Autores principales: | , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866914407541374976 |
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| author | Zou, Yanwen Zhou, Zhaoye Shi, Chenyang Ye, Zewei Huang, Junda Ding, Yan Zhao, Bo |
| author_facet | Zou, Yanwen Zhou, Zhaoye Shi, Chenyang Ye, Zewei Huang, Junda Ding, Yan Zhao, Bo |
| contents | We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct 3D-printed leader arms that share consistent control logic, enabling seamless compatibility with diverse commercial robot configurations. Compared with previous open-source leader-follower interfaces, we further optimized both the mechanical design and servo selection, achieving a bill of materials (BOM) cost of only \$50.5 for the 6-DoF leader arm and \$56.8 for the 7-DoF version. To enhance usability, we mitigate the common challenge in controlling redundant degrees of freedom by %engineering methods mechanical and control optimizations. Experimental results demonstrate that U-Arm achieves 39\% higher data collection efficiency and comparable task success rates across multiple manipulation scenarios compared with Joycon, another low-cost teleoperation interface. We have open-sourced all CAD models of three configs and also provided simulation support for validating teleoperation workflows. We also open-sourced real-world manipulation data collected with U-Arm. The project website is https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_02437 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | U-ARM : Ultra low-cost general teleoperation interface for robot manipulation Zou, Yanwen Zhou, Zhaoye Shi, Chenyang Ye, Zewei Huang, Junda Ding, Yan Zhao, Bo Robotics We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct 3D-printed leader arms that share consistent control logic, enabling seamless compatibility with diverse commercial robot configurations. Compared with previous open-source leader-follower interfaces, we further optimized both the mechanical design and servo selection, achieving a bill of materials (BOM) cost of only \$50.5 for the 6-DoF leader arm and \$56.8 for the 7-DoF version. To enhance usability, we mitigate the common challenge in controlling redundant degrees of freedom by %engineering methods mechanical and control optimizations. Experimental results demonstrate that U-Arm achieves 39\% higher data collection efficiency and comparable task success rates across multiple manipulation scenarios compared with Joycon, another low-cost teleoperation interface. We have open-sourced all CAD models of three configs and also provided simulation support for validating teleoperation workflows. We also open-sourced real-world manipulation data collected with U-Arm. The project website is https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm. |
| title | U-ARM : Ultra low-cost general teleoperation interface for robot manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.02437 |